Marks - 15

1. A) What are the different joints used in a industrial

robot. B)Briefly explain each of them. C) A sliding joint can
be streached to a maximum position of 4 meters . It is
capable of 212 commands generates .find the CR.

2. A) What is DOF.write 3 different names of a mobility

criteria. B) A cylindrical robot has a wrist axis that can be
rotated a total three rotations (each rotation is a full 360°).
It is desired to be able to position the wrist with a control
resolution of 0.5° between the adjacent addressable points.
Determine the number of bit required in the binary register
for that axis in the robot’s control memory. With a neat
sketch block diagram show machine vision system of a
commercial robot.

3.A) One of the joints of a certain industrial robot has a

range of 0.5 m. the bit storage capacity of the robot
controller is 10 bits for this joint. The mechanical errors
form a normal distributed random variable about a given
taught point. The mean of the distribution is zero and its
standard deviation is 0.06 mm in the direction of the output
link of the joint. Find the accuracy and repeatability of this
robot joint.
B) Write down the classification of robots based on different
factors.

4. A) Briefly explain features of each generation of robots.

5. A)The length of the joint when fully retracted is 0.5 m
and when fully extended
is 1.2 m. the robot’s controller has a 12-bit storage capacity
for this axis of motion. Determine the robot’s resolution for
the
axis. What are the 3 DOF’s associated with arm motion? B)
Name 5 important specification required for a robot. C)
Explain Euler configuration.
6. Short note on- a)Cartesian
b) Cylindrical
C) Polar
7. A) What is/are DOF of connecting pair or pairs for each of
the joints -
I) Revolute , II) Prismatic , III) Helical , Iv) Universal , V)
Cylindrical , VI) Sperical , VII) planner.
B) Maximum DOF that a joint can allow.